Whoa! During Miley Cyrus’ ‘Bangerz’ concert special on NBC, the singer showed us that being racy isn’t something she only does on stage. In a behind-the-scenes clip, Miley got ‘turnt up’ while dancing in her underwear with little sister, Noah.

Miley Cyrus, 21, is not afraid to be sexy in front of her young and impressionable sister, Noah, 14. During a break from her Bangerz tour, the singer welcomed cameras inside her private hotel room while wearing nothing but a sexy black bra and matching underwear. Once inside the room, the notoriously racy singer performed a sexy dance routine with her fully-clothed little sister.

Miley Cyrus Dances In Her Underwear With Little Sister Noah

Guess Miley and Noah’s parents weren’t around for this one!

In a rare behind-the-scenes moment from Miley’s Bangerz tour in Barcelona on June 13, the singer performed a sexy dance in her bra and panties. The only problem? It was with her little sister, Noah. Eek!

Wearing nothing but a tiny black bra and matching black panties, Miley continuously yelled “Turn up!” while doing a short choreographed dance inside her hotel room. Behind her, and dancing along to the same choreography, was Miley’s little sister, Noah. Thankfully, the 14-year-old was fully dressed.

Moments before their impromptu dance session, Miley welcomed cameras into her hotel room while wearing the same pair of bra and panties.

When the door opened to her room she struck a super sexy pose and said, “Schwelcome.” Then, as the cameras followed her through a hallway inside of the room, she stopped and struck another pose — this time popping her butt out for the camera to zoom in on.

Miley is clearly very comfortable in that body of hers!

Miley & Noah Sang With Braison In Rare Private Moment

A more subtle — and extremely rare — moment inside Miley’s hotel room included her brother, Braison, and an acoustic guitar.

Noah changed into a catsuit and laid in the bathtub while Miley and Braison sang together in the bathroom!

Braison played the guitar as Miley read lyrics off of her iPhone, and even Noah chimed in for a few chords while she laid in the bathtub.

This was truly a treat for Miley fans, because it was a rare moment between her and her siblings that doesn’t get publicized like the rest of her (occasionally over-the-top) antics.

Tell us, HollywoodLifers — Do you think Miley should be dancing in her underwear with her little sister? Did you like seeing her sing with Braison? Let us know your thoughts on the show below!